A deformable tetrahedron rolling mechanism (DTRM) based on URU branch

Mechanism and Machine Theory（2020）

引用 11|浏览18

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摘要

•A novel deformable tetrahedron rolling mechanism is proposed based on URU branch.•Rolling gaits are planned to reduce the displacement error of the mobile mechanism.•Trajectory of the center of mass is optimized to reduce the actuator torque.•Experimental results of physical prototypes of the rolling mechanism are presented.

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关键词

Mobile robot,Parallel mechanism with variable platform,Rolling locomotion,Non-impact rolling gait,Torque optimization

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